CN112674883B

CN112674883B - Foot bottom surface angle obtaining method for surface projection axis adjustment of minimally invasive surgery

Info

Publication number: CN112674883B
Application number: CN202110106551.6A
Authority: CN
Inventors: 韩志勇
Original assignee: Weihai Jinbian Information Technology Co ltd
Current assignee: Weihai Jinbian Information Technology Co ltd
Priority date: 2019-03-16
Filing date: 2019-03-16
Publication date: 2022-08-12
Anticipated expiration: 2039-03-16
Also published as: CN112674881B; CN112674881A; CN112674882A; CN112674882B; CN109875691A; CN109875691B; CN112674883A

Abstract

The invention relates to a foot bottom surface angle acquisition method for minimally invasive surgery surface projection axis adjustment, belonging to the technical field of surface projection adjustment and motion capture; in the method, a doctor drives a shank cushion plate to swing back and forth in a first rotating surface along a hinged shaft of the shank cushion plate and a thigh cushion plate, the reading of a first angle sensor and the reading of a platform swinging sensor are read, the reading of the platform swinging sensor corresponds to the reading of the first angle sensor according to a time axis, the reading of the platform swinging sensor in a sampling section is intercepted, and therefore the change value of the angle of the inner sole surface of the sampling section relative to a foot cushion plate is obtained; the axis adjusting method applied to the minimally invasive surgery body surface projection adjusting method has the advantages of being simple and automatic in adjusting process, capable of being adjusted and completed quickly, saving adjusting time and being suitable for doctors with different body states.

Description

Foot bottom surface angle obtaining method for surface projection axis adjustment of minimally invasive surgery

The application is a divisional application of the invention patent application, namely 'an axis adjusting method facing to a minimally invasive surgery body surface projection adjusting method'. Application date of the original case: 2019-03-16.

Original application No.: 2019102002428.

the name of the original invention is: an axis adjusting method facing the surface projection adjusting method of the minimally invasive surgery.

Technical Field

The invention belongs to the technical field of body surface projection adjustment and motion capture, and particularly relates to a foot bottom surface angle obtaining method for surface projection axis adjustment of a minimally invasive surgery.

Background

Compared with the traditional open cavity surgery, the minimally invasive surgery has the advantages of small wound, light pain, quick healing and the like, caters to the beauty of modern people, and is widely concerned day by day and applied to partial abdominal cavity and cranial cavity surgeries;

at present, an endoscope is mainly adopted in a minimally invasive surgery and is displayed on a display for a doctor to observe, the doctor needs to constantly move the sight line between a surgery part and a display bracket during observation, so that the continuity of the surgery is influenced, the patient is easy to fatigue, and for the defects, some researchers adopt a patient body surface projection method based on an Augmented Reality technology (Augmented Reality AR) and project an image shot by the endoscope on the patient body surface by using a projector to assist the doctor to judge when needed so as to form a virtual epidermis transparent effect; however, when a doctor needs to observe in a large range or locally, an assistant is needed to assist in holding and adjusting the projected image of the body surface, so that the continuity of the operation is affected.

Disclosure of Invention

The invention overcomes the defects of the prior art and provides an axis adjusting method facing to a minimally invasive surgery body surface projection adjusting method.

The technical scheme of the invention is as follows:

an adjustment device for minimally invasive surgical body surface projection, comprising: the thigh backing plate, the shank backing plate, the foot backing plate, the base, a first angle sensor and a second angle sensor, wherein the upper end of the base is provided with a supporting structure, the supporting structure is connected with the thigh backing plate, the thigh backing plate is horizontally arranged, the shank backing plate is vertically arranged, one end of the thigh backing plate is hinged with the upper end of the shank backing plate, the hinged rotatable surface is a first rotating surface comprising the thigh backing plate and the shank backing plate in the length direction, the lower end of the shank backing plate is rotatably connected with the foot backing plate, the rotating surface which is rotatably connected is a second rotating surface perpendicular to the plane of the shank backing plate in the length direction, the foot backing plate is perpendicular to the shank backing plate, the first angle sensor is arranged at the hinged position of the thigh backing plate and the shank backing plate and used for detecting the rotating angle of the shank backing plate relative to the thigh backing plate in the first rotating surface, the second angle sensor is arranged at the rotating connection position of the shank backing plate and the foot backing plate, for detecting the angle of rotation of the footplate relative to the footplate in the second plane of rotation.

The upper end of the shank cushion plate is hinged with the upper end of the shank cushion plate, the lower end of the shank cushion plate is hinged with the upper end of the shank cushion plate, and the upper end of the shank cushion plate is hinged with the upper end of the shank cushion plate.

Furthermore, the upper surface of the thigh backing plate is provided with a fixing pad, the fixing pad can adapt to the shape of a thigh and fix one end of the human body, connected with the thigh and the shank, and the fixing direction is a linear direction perpendicular to the first rotating surface.

Further, the thigh pad includes: the supporting surface of the buttock supporting section is horizontally arranged, the supporting surface of the thigh supporting section is obliquely arranged, the lower end of the buttock supporting section is hinged with the supporting structure, the rotating surface of the hinged connection is parallel to the first rotating surface, one end of the first push rod is hinged with the supporting structure, and the other end of the first push rod is hinged with the lower surface of the thigh supporting section.

Further, the shank plate includes: go up linkage segment, lower linkage segment and second push rod, the lower extreme of going up the linkage segment is connected with the linkage segment down through the sliding construction that sets up along last linkage segment length direction, and the lower extreme of lower linkage segment is provided with the horizontal segment perpendicular with last linkage segment length direction, the horizontal segment upper surface with the foot backing plate rotates and is connected, the one end and the last linkage segment of second push rod are connected, and the other end and the lower linkage segment of second push rod are connected.

Further, the footplate includes: revolving stage, tiptoe splint, heel splint and third push rod, the revolving stage with the shank backing plate rotates to be connected, and the both ends of revolving stage are provided with tiptoe splint and heel splint respectively relatively, tiptoe splint pass through sliding construction and are connected with the revolving stage, heel splint and revolving stage fixed connection, the one end and the tiptoe splint of third push rod are connected, and the other end and the revolving stage of third push rod are connected.

Furthermore, a first cambered surface is arranged on the clamping surface of the tiptoe clamping plate, a second cambered surface is arranged on the clamping surface of the heel clamping plate, the circle centers of the first cambered surface and the second cambered surface are overlapped, and the circle center is located on the axis of the human foot rotating in the first rotating surface relative to the shank.

Further, the footplate may further include: the first key is arranged at one end, close to the tiptoe clamping plate, of the upper surface of the rotary table, and the second key is arranged at the lower surface, extending towards the rotary table, of the fixing block at the upper end of the tiptoe clamping plate.

Further, the base includes: movable plate, fixed plate, base spring and ball wheel, the upper end of fixed plate with bearing structure connects, and the lower extreme of fixed plate is provided with the removal spout that holds the movable plate along vertical direction, and the lower surface of fixed plate removes the fixed plane of the annular face in the spout outside for being used for the support, the base spring sets up between movable plate and fixed plate, the lower surface of movable plate is provided with a plurality of ball wheel, and the sliding contact face that a plurality of ball wheel formed forms the glide plane that is used for the removal.

Towards minimal access surgery body surface projection adjusting device's fixed bolster includes: the deformation pipe, the balance pipe, the stopping piece and the balance bag are arranged along an arc shape to form a circular arc-shaped contact surface, water is filled in the deformation pipe, each deformation pipe is connected with the balance bag through one balance pipe, the stopping piece penetrates through the plurality of balance pipes, and the stopping piece is provided with a movable pressing surface and used for pressing the balance pipes.

Towards axis adjusting part of minimal access surgery body surface projection adjusting device, include: the shaft driving part is arranged on a thigh base plate and used for adjusting the positions of hinged shafts of the thigh base plate and the shank base plate on a first rotating surface, the first waist-shaped strip is fixed on a tiptoe splint, the second waist-shaped strip is fixed on a heel splint, sliding sleeves are sleeved on the outer sides of the first waist-shaped strip and the second waist-shaped strip, a spring structure for resetting the sliding sleeves is arranged on the sliding sleeves, a first fixing part is arranged on the side surface of the first waist-shaped strip, the first fixing part is provided with a movable fixing head, the fixing head can press the sliding sleeves on the first waist-shaped strip to fix the positions of the sliding sleeves, the swing table is hinged on the upper surface of the thigh base plate, the hinged shafts are located below the axis of the feet of the human body rotating relative to the shanks on the first rotating surface, and the upper surface of the swing table is in contact with the bottom surface of the feet of the human body, the swing table can swing towards a tiptoe clamping plate or a heel clamping plate, a swing table sensor is arranged on the swing table and used for detecting the swing amplitude of the swing table towards the tiptoe clamping plate or the heel clamping plate, the second fixing piece is arranged on the foot base plate, the second fixing piece is provided with a fixing plane located below the swing table, the fixing plane is located below two swing ends of the swing table, the fixing plane is located away from the fixing plane with the same height of the upper surface of the foot base plate, and the fixing plane can move along the direction perpendicular to the surface of the foot base plate.

Further, the shaft driver includes: the shaft fixing fork, the first shaft driving push rod and the second shaft driving push rod are arranged, two fork ends of the upper end of the shaft fixing fork are hinged to the upper end of one hinge lug, the lower ends of the two hinge lugs are fixed on a shank base plate, the lower end of the shaft fixing fork is fixedly connected with one end of the first shaft driving push rod, the other end of the first shaft driving push rod is fixedly connected with one end of the second shaft driving push rod, the other end of the second shaft driving push rod is fixed on a thigh base plate, and the first shaft driving push rod and the second shaft driving push rod are arranged perpendicularly.

Further, the second fixing member includes: the fixed cylinder comprises a fixed cylinder, a fixed cylinder sliding groove and a fixed cylinder push rod, wherein the upper surface of an axis perpendicular to foot base plate of the fixed cylinder is arranged below the swing table, the fixed cylinder sliding groove is arranged on the foot base plate and guides the fixed cylinder in a sliding mode along the direction perpendicular to the foot base plate, the side face of the fixed cylinder is connected with one end of the fixed cylinder push rod, and the other end of the fixed cylinder push rod is fixed on the foot base plate.

Furthermore, the platform placing sensor is a third angle sensor, one end of the third angle sensor is connected with the platform placing device, and the other end of the third angle sensor is fixed on the foot base plate.

Further, the platform placing sensor comprises two distance sensors, and the two distance sensors are respectively arranged below the two swinging ends of the platform placing.

Towards the axle driving piece of minimal access surgery body surface projection axle adjustment piece, the axle driving piece includes: the shaft fixing fork, the first shaft driving push rod and the second shaft driving push rod are arranged, two fork ends of the upper end of the shaft fixing fork are hinged to the upper end of one hinge lug, the lower ends of the two hinge lugs are fixed on a shank base plate, the lower end of the shaft fixing fork is fixedly connected with one end of the first shaft driving push rod, the other end of the first shaft driving push rod is fixedly connected with one end of the second shaft driving push rod, the other end of the second shaft driving push rod is fixed on a thigh base plate, and the first shaft driving push rod and the second shaft driving push rod are arranged perpendicularly.

Further, the shaft adjusting piece is applied to an adjusting device for minimally invasive surgery body surface projection.

Further, the adjusting device for minimally invasive surgery body surface projection comprises: thigh backing plate, shank backing plate, foot backing plate, base, first angle sensor and second angle sensor.

An adjustment method for minimally invasive surgical body surface projection, comprising the steps of:

step a, fixing thighs: the doctor sits on the hip supporting section in a standing posture with one leg lifted, and thighs of the lifted leg are placed on the thigh supporting section along the length direction of the thigh supporting section, so that the positions of the thighs of the doctor and the thigh base plate are fixed;

step b, positioning the length of the shank: the crus of the leg lifted by the doctor naturally droop, the second push rod contracts, the lower connecting section of the crus backing plate moves towards the upper connecting section, the length of the crus backing plate is shortened, the foot backing plate is driven to move upwards until the bottom surface of the foot is contacted with the foot backing plate, and the crus backing plate is positioned according to the length of the crus of the doctor;

step c, foot positioning: the third push rod pulls the toe clamp plate to move towards the toe, and the toe clamp plate and the heel clamp plate clamp the foot in the length direction;

step d, acquiring a vertical coordinate quantity: when a doctor needs to input a ordinate quantity, the crus drive the crus cushion plate to swing in a first rotating surface by swinging the crus forwards or backwards by taking a hinge shaft of the crus cushion plate and a hinge shaft of the thigh cushion plate as an axis, the swing amplitude of the crus cushion plate is obtained by a first angle sensor, and the swing amplitude of the crus cushion plate is taken as the ordinate quantity to be obtained;

step e, acquiring the horizontal coordinate quantity: when a doctor needs to input a horizontal coordinate quantity, the foot drives the foot base plate to swing in a second rotating surface by turning the foot leftwards or rightwards with a rotating shaft which is rotationally connected with the foot base plate and the shank base plate as an axis, the swinging amplitude of the foot base plate is obtained through a second angle sensor, and the swinging amplitude of the foot base plate is obtained as the horizontal coordinate quantity;

step f, obtaining an operation intention: when a doctor needs to operate the designated area projected on the body surface, the tiptoes slide along the first cambered surface by moving the tiptoes upwards or downwards, so that the tiptoes touch the first key or the second key, and the operation intention of the doctor is obtained through the first key or the second key.

And further comprising a hinge shaft position adjusting step, wherein after the feet are positioned, the positions of the hinge shafts of the thigh cushion plate and the shank cushion plate in the first rotating surface are adjusted, so that the hinge shafts are superposed with the virtual shafts of the thigh and the shank of the doctor.

Further, when the thigh fixing is performed in the step a, the fixing pad is adapted to the shape of the thigh and fixes the end of the thigh, which is connected with the lower leg of the doctor, in a straight line direction perpendicular to the first rotating surface.

A longitudinal coordinate quantity output method facing a minimally invasive surgery body surface projection adjustment method is characterized in that an included angle between the length direction of a shank base plate and the vertical direction is set to be a longitudinal coordinate zero point, an output value of a first angle sensor is set to be zero when the shank base plate is located at the set longitudinal coordinate zero point, when a doctor needs to input a longitudinal coordinate quantity, a shank swings forwards or backwards, the shank drives the shank base plate to swing in a first rotating surface by taking a hinge shaft of the shank base plate and a hinge shaft of a thigh base plate as an axis, the swing amplitude of the shank base plate is obtained through a first angle sensor, and a numerical value corresponding to the swing amplitude of the shank base plate is output as the longitudinal coordinate quantity.

An included angle between a connecting line of a toe splint and a heel splint of a foot base plate and a first rotating surface is set to be an abscissa zero point, an output value of a second angle sensor is set to be zero when the foot base plate is located at the set abscissa zero point, when a doctor needs to input an abscissa amount, the foot drives the foot base plate to swing in a second rotating surface by turning the foot leftwards or rightwards by taking a rotating shaft which is rotationally connected with the foot base plate and a shank base plate as an axis, the swing amplitude of the foot base plate is obtained by the second angle sensor, and a numerical value corresponding to the swing amplitude of the foot base plate is output as the abscissa amount.

When a doctor tilts or tramples the tiptoe upwards, a first key and a second key are distributed at positions where the tiptoe can touch along a first cambered surface sliding path, the first key and the second key are set to correspond to an intention of the doctor for operating a designated area of the surface projection, the doctor moves the tiptoe upwards or downwards, the tiptoe slides along the first cambered surface, the tiptoe touches the first key or the second key, and the operation intention of the doctor is output through the first key or the second key.

Further, the method is applied to an adjusting device for minimally invasive surgery body surface projection.

The axis adjusting method facing the minimally invasive surgery body surface projection adjusting method comprises the following steps:

step a, positioning the sole surface: when the feet are positioned, the second fixing piece lifts a fixing plane arranged below the swing table, the fixing plane is in contact with the lower surface of the swing table, the upper surface of the swing table is parallel to the upper surface of the foot base plate, and the bottom surfaces of the feet are positioned and parallel to the upper surface of the foot base plate;

step b, toe fixing: when the feet are positioned, after the feet are clamped by the tiptoe clamping plate and the heel clamping plate in the length direction, the fixing head of the first fixing piece moves towards the first waist-shaped strip, the fixing head compresses the sliding sleeve on the first waist-shaped strip to fix the position of the sliding sleeve, and the sliding sleeve fixes the position of the tiptoe of a doctor on the sliding surface of the first waist-shaped strip through friction force;

step c, obtaining the angle change of the sole surface; the doctor calf drives the calf backing plate to swing back and forth in the first rotating surface along the hinging shaft of the calf backing plate and the thigh backing plate, the reading of the first angle sensor is read, a period is defined between the adjacent maximum value and the adjacent minimum value in the reading of the first angle sensor, a period is selected, the maximum value a and the minimum value b in the period are read, the sizes of a and-b are compared, if a is greater than-b, the section from-b to b in the period is selected as a sampling section, if a is less than-b, the section from a to-a in the period is selected as a sampling section, the reading of the swing table sensor is read, the reading of the swing table sensor in the sampling section corresponds to the reading of the first angle sensor according to the time axis, and the reading of the swing table sensor in the sampling section is intercepted, so that the angle change value of the bottom surface of the foot in the sampling section relative to the foot backing plate is obtained;

step d, deviation direction judgment: reading the readings c and d of the platform placing sensor corresponding to the two end points of the intercepting section, reading the signs of the c and the d, defining that the horizontal direction in the first rotating surface is a horizontal shaft, the vertical direction is a vertical shaft, when the upper surface of the swing table is parallel to the upper surface of the foot base plate, the reading of the swing table sensor is zero, when the swing table rotates clockwise in the first rotating surface, the swing table sensor outputs a negative value, when the swing table rotates anticlockwise in the first rotating surface, the swing table sensor outputs a positive value, a virtual shaft of the thigh and the shank of the human body is positioned at the intersection point of the horizontal shaft and the vertical shaft, if c is a positive number and d is a negative number, the virtual shaft is positioned at the right side of the articulated shaft, if c is a negative number and d is a positive number, the virtual shaft is positioned at the left side of the articulated shaft, if c is a positive number and d is a positive number, the virtual shaft is positioned below the articulated shaft, and if c is a negative number and d is a negative number, the virtual shaft is positioned above the articulated shaft;

step e, adjusting a hinge shaft: setting an length m, if the signs of c and d are different, moving the hinged shaft by a length m along the horizontal axis, if c is a positive number and d is a negative number, moving the hinged shaft to the right side, if c is a negative number and d is a positive number, moving the hinged shaft to the left side, repeating the step d, if c and d are not changed in sign, continuing to move by a length m until c and d are changed in sign, if c and d are changed in sign, moving by 0.5m in length until the signs of c and d are the same, moving the hinged shaft by a length m along the vertical axis, if c is a positive number and d is a positive number, moving the hinged shaft downwards, if c is a negative number and d is a negative number, moving the hinged shaft upwards, repeating the step d until the signs of c and d are different, and stopping moving;

if c and d have the same sign, moving the hinged shaft by a length of m along the vertical axis, if c is a positive number and d is a positive number, moving the hinged shaft downwards, if c is a negative number and d is a negative number, moving the hinged shaft upwards, repeating the step d until the signs of c and d are different, stopping moving, moving the hinged shaft by a length of m along the horizontal axis, if c is a positive number and d is a negative number, moving the hinged shaft to the right side, if c is a negative number and d is a positive number, moving the hinged shaft to the left side, repeating the step d, if c and d are not changed in sign, continuing moving by a length of m until c and d are changed in sign, if c and d are changed in sign, moving by a length of 0.5m until the signs of c and d are the same, and stopping moving.

In step d, a third angle sensor is arranged on the swing table for detection, the output value of the third angle sensor is set to be zero when the upper surface of the swing table is parallel to the upper surface of the foot base plate, the swing table sensor outputs a negative value when the swing table rotates clockwise in the first rotating surface, and the swing table sensor outputs a positive value when the swing table rotates anticlockwise in the first rotating surface.

A method for obtaining the angle of the sole surface facing the surface projection axis adjustment of a minimally invasive surgery includes that a doctor shank drives a shank base plate to swing back and forth in a first rotating surface along a hinged shaft of the shank base plate and a thigh base plate, reading the reading of a first angle sensor, defining a period between adjacent maximum values and minimum values in the reading of the first angle sensor, selecting a period, reading a maximum value a and a minimum value b in the period, comparing a and b, if a > b, selecting the section from-b to b in the period as a sampling section, if a < -b, selecting the section from a to-a in the period as a sampling section, reading the reading of the table sensor, reading of the platform placing sensor corresponds to that of the first angle sensor according to a time axis, and the reading of the platform placing sensor in the sampling section is intercepted, so that the change value of the angle of the bottom surface of the inner foot of the sampling section relative to the foot base plate is obtained;

the deviation direction judging method facing to the adjustment of the surface projection axis of the minimally invasive surgery comprises the steps of reading readings c and d of a platform sensor corresponding to two end points of an intercepting section, reading signs of the readings c and d, defining the horizontal direction in a first rotating plane as a horizontal axis and the vertical direction as a vertical axis, enabling the reading of the platform sensor to be zero when the upper surface of the platform is parallel to the upper surface of a foot base plate, enabling the platform sensor to output a negative value when the platform rotates clockwise in the first rotating plane, enabling the platform sensor to output a positive value when the platform rotates anticlockwise in the first rotating plane, enabling a virtual axis of the rotation of thighs and calves of a human body to be located at the intersection point of the horizontal axis and the vertical axis, considering that the virtual axis is located on the right side of a hinged shaft if the c is positive number and the d is negative number, considering that the virtual axis is located on the left side of the hinged shaft if the c is negative number and the d is positive number, considering that the virtual axis is located below the hinged shaft, if c is a negative number and d is a negative number, the virtual shaft is determined to be positioned above the articulated shaft;

e, adjusting the articulated shaft facing the surface projection shaft adjustment of the minimally invasive surgery, wherein the step e comprises the following steps: setting an length m, if the signs of c and d are different, moving the hinged shaft by a length m along the horizontal axis, if c is a positive number and d is a negative number, moving the hinged shaft to the right side, if c is a negative number and d is a positive number, moving the hinged shaft to the left side, repeating the step d, if c and d are not changed in sign, continuing to move by a length m until c and d are changed in sign, if c and d are changed in sign, moving by 0.5m in length until the signs of c and d are the same, moving the hinged shaft by a length m along the vertical axis, if c is a positive number and d is a positive number, moving the hinged shaft downwards, if c is a negative number and d is a negative number, moving the hinged shaft upwards, repeating the step d until the signs of c and d are different, and stopping moving;

The invention has the beneficial effects that:

1. the invention relates to an adjusting device for minimally invasive surgery body surface projection, which comprises: the structure can realize that in the process of minimally invasive surgery of doctors, the crus cushion plate is driven to rotate by crus, the first angle sensor acquires first rotation angle information, the feet rotate to drive the feet to rotate, the second angle sensor acquires second rotation angle information, the two angle information is used as coordinate values and placed in a coordinate system, and the angle information can be used as position information, this positional information can adjust the projection image as the instruction that represents doctor's intention, and at the operation in-process, the doctor can not need supplementary handheld and adjustment of assistant, only needs to remove shank and foot in the adjustment process, and the thigh is fixed on the thigh backing plate, can not exert an influence to doctor's hand operation, influences the operation continuity, avoids the process of image adjustment to exert an influence to the operation.

2. The fixing pad provided by the invention comprises: the device comprises deformation pipes, balance pipes, a stopping piece and a balance bag, wherein the deformation pipes are arranged along an arc shape to form an arc-shaped contact surface, water is filled in the deformation pipes, each deformation pipe is connected with the balance bag through one balance pipe, the balance pipes penetrate through the stopping piece, and the stopping piece is provided with a movable pressing surface for pressing the balance pipes; place behind the fixed bolster at the thigh, the shank extrudees the deformation pipe, the intraductal water of deformation passes through in balanced pipe extrudees to balanced bag, a plurality of deformation pipes warp the back, the convex contact surface of constitution adapts to human shank shape after, compress tightly a plurality of balanced pipes simultaneously through the end, cut off the intercommunication of deformation pipe and balanced bag, convex contact surface shape is fixed, because the deformation pipe has the shape of elasticity and adaptation shank, for ordinary elastic material, can be fixed the shank in comfortable, better adaptation appearance ability has.

3. The shaft adjuster of the present invention comprises: the shaft driving piece is arranged on the thigh base plate, the outer sides of the first waist-shaped strip and the second waist-shaped strip are respectively sleeved with a sliding sleeve, the side surface of the first waist-shaped strip is provided with the first fixing piece, the swing table is hinged on the foot base plate, the upper surface of the swing table is in contact with the bottom surface of a human foot, the swing table is provided with a swing table sensor, and the second fixing piece is arranged on the foot base plate; with the structure, the swing table can be rightly placed through the second fixing piece, the bottom surface of the foot is parallel to the upper surface of the foot cushion plate and serves as an initial position, the position of the toe of the foot is fixed through the first fixing piece, after the swing table is released through the second fixing piece, the swing table swings due to the movement of the shank relative to the foot cushion plate, and therefore whether the virtual shaft and the hinged shaft are coaxial or not can be judged, the position of the hinged shaft is adjusted to be coaxial with the virtual shaft according to the position, when coordinate information is input through the swing of the shank, the shank and the foot cushion plate can be synchronized, and the accuracy of input information is guaranteed.

4. According to the projection adjusting method, the thigh of the doctor is fixed, the length of the shank and the foot are positioned, the vertical sitting scalar quantity is obtained through the swing of the shank of the doctor, the horizontal sitting scalar quantity is obtained through the rotation of the foot, the operation intention of the doctor is obtained through the foot tip touch key of the doctor, the operation of the hand of the doctor is not affected in the whole adjusting process, the auxiliary hand holding of an assistant is not needed, the continuity of the operation is kept, distraction of the doctor when the projection needs to be adjusted is avoided, and the operation efficiency is improved.

5. The shaft adjusting method can judge the positions of the leg virtual shaft and the articulated shaft by swinging the thigh and the leg back and forth and intercepting the change of the angle between the sole surface and the foot base plate in a swinging period after the thigh and the leg of a doctor are fixed with the device, and automatically adjust the position of the articulated shaft, so that the error between the articulated shaft and the virtual shaft is in an allowable range, the adjusting process is simple and automatic, the quick adjustment can be finished, the adjusting time is saved, and the method is suitable for doctors with different physical states.

Drawings

FIG. 1 is a schematic overall structure diagram of an adjusting device for minimally invasive surgery body surface projection;

FIG. 2 is a schematic view of a detail of FIG. 1;

FIG. 3 is a schematic view of the footplate of FIG. 2;

FIG. 4 is a schematic structural view of the fixing pad of FIG. 2;

FIG. 5 is a schematic structural view of a shaft adjusting member facing the minimally invasive surgical body surface projection adjusting device;

FIG. 6 is a schematic structural view of the shaft driver of FIG. 5;

FIG. 7 is a schematic structural view of the second fixing member of FIG. 5;

FIG. 8 is a schematic view of a sampling section obtained in the fourteenth embodiment;

FIG. 9 is a schematic view showing an angle of a swing table according to a fourteenth embodiment;

FIG. 10 is a simplified diagram showing a fourteenth structure of the embodiment;

FIG. 11 is a simplified view of the adjusted structure of FIG. 10;

in the figure: 1 thigh backing plate; 2 shank liner plate; 3 foot part backing plate; 4, a base; 5 a first angle sensor; 6 a second angle sensor; 7 a shaft adjuster; 8 fixing the cushion; 1-1 buttocks support section; 1-2 thigh support sections; 1-3 a first push rod; 2-1 upper connecting section; 2-2 lower connecting section; 2-3 a second push rod; 3-1, rotating a platform; 3-2 toe splints; 3-3 heel splints; 3-4 a third push rod; 3-5 a first cambered surface; 3-6 second cambered surface; 3-7 a first key; 3-8 second keys; 4-1 moving the plate; 4-2, fixing a plate; 4-3 base springs; 4-4 ball wheels; 7-1 shaft drive; 7-2 a first waist strip; 7-3 a first fixing member; 7-4 second waist-shaped strips; 7-5, placing a table; 7-6 second fixing piece; 8-1 deforming the pipe; 8-2 balance tubes; 8-3 cut-off; 8-4 balancing bags; 7-1-1 shaft fixing fork; 7-1-2 the first shaft drives the push rod; 7-1-3 second shaft driving push rod; 7-5-1 of a platform sensor; 7-6-1 fixed cylinder; 7-6-2 fixed cylinder chute; 7-6-3 fixed cylinder push rod.

Detailed Description

The invention will be described in detail below with reference to the following drawings:

detailed description of the invention

The adjusting device for minimally invasive surgery body surface projection disclosed by the embodiment is shown in fig. 1, and comprises: the thigh cushion plate 1, the crus cushion plate 2, the foot cushion plate 3, the base 4, the first angle sensor 5 and the second angle sensor 6, the upper end of the base 4 is provided with a supporting structure which is a rod piece and is used for supporting, the supporting structure is connected with the thigh cushion plate 1 and is used for providing support for the thigh of a doctor, the thigh cushion plate 1 is horizontally arranged, the crus cushion plate 2 is vertically arranged, one end of the thigh cushion plate 1 is hinged with the upper end of the crus cushion plate 2, the hinged rotatable surface is a first rotating surface comprising the thigh cushion plate 1 and the length direction of the crus cushion plate 2, after the thigh of the doctor is placed on the thigh cushion plate, the crus can drive the crus cushion plate 3 to swing towards the front or the back of the doctor, the lower end of the crus cushion plate 2 is rotatably connected with the foot cushion plate 3, the rotating surface which is rotatably connected is a second rotating surface which is perpendicular to the plane of the length direction of the crus cushion plate 2, the foot base plate 3 is perpendicular to the lower leg base plate 2, the first angle sensor 5 is arranged at the hinged position of the thigh base plate 1 and the lower leg base plate 2 and used for detecting the rotating angle of the lower leg base plate 2 relative to the thigh base plate 1 in a first rotating surface, and the second angle sensor 6 is arranged at the rotating connection position of the lower leg base plate 2 and the foot base plate 3 and used for detecting the rotating angle of the foot base plate 3 relative to the lower leg base plate 2 in a second rotating surface;

when a doctor performs minimally invasive surgery, an image inside the body of a patient is projected on the body surface of the patient through body surface projection, the doctor performs surgery through double-hand operation, when the projected image needs to be operated, a shank pad 3 is driven to rotate in a first rotating surface through a shank, first rotating angle information is obtained through a first angle sensor 5, a foot pad 3 is driven to rotate in a second rotating surface through foot rotation, second rotating angle information is obtained through a second angle sensor 6, the angle values of the first angle information and the second angle information are used as coordinate values and are placed in a coordinate system, the angle information can be used as position information, the position information can be used as an instruction representing the intention of the doctor to adjust the projected image, the adjustment comprises dragging, amplifying, reducing and brightness adjustment, and the doctor does not need assistant to hold and adjust the image in hand during the surgery, only the shank and the foot are moved in the adjusting process, the shank is fixed on the thigh base plate 1, the hand operation of a doctor cannot be influenced, the operation consistency is not influenced, the influence of the image adjusting process on the operation is avoided,

the device comprises a thigh cushion plate 1, a foot cushion plate 3, a shaft adjusting piece 7 and a leg adjusting piece, wherein the shaft adjusting piece 7 adjusts the positions of the articulated shafts of the thigh cushion plate 1 and the foot cushion plate 2 on a first rotating surface according to the change of the surface angle of the bottom surface of the foot of a human body and the foot cushion plate 3 when the foot cushion plate 2 swings along the articulated shaft at the upper end, so that the axis of the articulated shaft is superposed with the virtual axis of the rotation of the thigh and the leg of the human body;

because the length and the thickness of the legs of different doctors are different, after the legs are fixed with the device, the virtual axis for the rotation of the thighs and the crus and the hinge axis of the thigh cushion plate 1 and the crus cushion plate 2 are not coaxial, when the virtual axis and the hinge axis are not coincident, the crus can generate an upward or downward movement trend along the length direction of the crus relative to the foot cushion plate 3 in the rotation process of the crus along with the crus cushion plate 2, the tiptoes of the feet are fixed on the foot cushion plate 3, a gap is formed between the bottom surfaces of the feet and the foot cushion plate 3, the angle of the bottom surfaces of the feet relative to the upper surface of the foot cushion plate 3 can be changed in the front-back swinging process of the crus, the deviation condition of the virtual axis and the hinge axis can be judged according to the angle change rule, and the adjustment can be carried out in the swinging process through the shaft adjusting piece 7;

the upper surface of the thigh cushion plate 1 is provided with a fixing pad 8, the fixing pad 8 can adapt to the shape of a thigh and fix one end of a human body, which is connected with the thigh and the shank, and the fixing direction is a linear direction vertical to the first rotating surface;

the existing elastic cushion adapts to the shape of a human body through elastic deformation, but the large area supporting force of the elastic deformation is also large, and the existing elastic cushion does not have a fixing effect due to the characteristic of the elastic deformation, the shape is fixed after the elastic deformation is adapted to the human body by adopting the fixing cushion 8, and meanwhile, certain elasticity is achieved after the elastic cushion is fixed, so that the comfortable and comfortable elastic cushion has a fixing effect on the thigh part, and the situation that the movement of the leg part for adjustment is transmitted to the hand of the human body to influence the operation of a doctor in a minimally invasive surgery is avoided.

Detailed description of the invention

In this embodiment, on the basis of the first embodiment, specifically, with reference to fig. 2, the thigh pad 1 includes: the device comprises a hip supporting section 1-1, a thigh supporting section 1-2 and a first push rod 1-3, wherein a supporting surface of the hip supporting section 1-1 is horizontally arranged, a supporting surface of the thigh supporting section 1-2 is obliquely arranged, the lower end of the hip supporting section 1-1 is hinged and connected with a supporting structure, a rotating surface of the hinged and connected structure is parallel to the first rotating surface, one end of the first push rod 1-3 is hinged and connected with the supporting structure, and the other end of the first push rod 1-3 is hinged and connected with the lower surface of the thigh supporting section 1-2;

the buttocks supporting section 1-1 supports the buttocks of a doctor, one end, far away from the buttocks supporting section 1-1, of the thigh supporting section 1-2 is inclined downwards, and when the buttocks supporting section is used, the thigh supporting section 1-2 is pushed by the first push rod 1-3, so that the buttocks supporting section 1-1 and the thigh supporting section 1-2 rotate along a hinged shaft at the lower end of the buttocks supporting section 1-1, and the sitting posture is adjusted.

Detailed description of the invention

In this embodiment, on the basis of the first embodiment, specifically, as shown in fig. 2, the lower leg cushion 2 includes: the foot part cushion plate comprises an upper connecting section 2-1, a lower connecting section 2-2 and a second push rod 2-3, wherein the lower end of the upper connecting section 2-1 is connected with the lower connecting section 2-2 through a sliding structure arranged along the length direction of the upper connecting section 2-1, the lower end of the lower connecting section 2-2 is provided with a horizontal section vertical to the length direction of the upper connecting section 2-1, the upper surface of the horizontal section is rotatably connected with the foot part cushion plate 3, one end of the second push rod 2-3 is connected with the upper connecting section 2-1, and the other end of the second push rod 2-3 is connected with the lower connecting section 2-2;

the upper connecting section 2-1 and the lower connecting section 2-2 enable the shank cushion plate 2 to be capable of adjusting the length through a sliding structure, so that the shank cushion plate is suitable for the shank lengths of different doctors, and the bottom surface of the foot is guaranteed to be in contact with the foot cushion plate 3.

Detailed description of the invention

In the present embodiment, in addition to the first embodiment, specifically, as shown in fig. 3, the footplate 3 includes: the device comprises a rotary table 3-1, a toe clamp plate 3-2, a heel clamp plate 3-3 and a third push rod 3-4, wherein the rotary table 3-1 is rotatably connected with a shank base plate 2, the two ends of the rotary table 3-1 are oppositely and respectively provided with the toe clamp plate 3-2 and the heel clamp plate 3-3, the toe clamp plate 3-2 is connected with the rotary table 3-1 through a sliding structure, the heel clamp plate 3-3 is fixedly connected with the rotary table 3-1, one end of the third push rod 3-4 is connected with the toe clamp plate 3-2, and the other end of the third push rod 3-4 is connected with the rotary table 3-1; after the feet of the doctor step on the foot base plate 3, the third push rod 3-4 is contracted, the foot tip splint 3-2 and the heel splint 3-3 clamp and fix the feet along the length direction, so that the foot base plate 3 can rotate along with the feet when the feet rotate;

specifically, a first arc surface 3-5 is arranged on the clamping surface of the tiptoe clamping plate 3-2, a second arc surface 3-6 is arranged on the clamping surface of the heel clamping plate 3-3, the circle centers of the first arc surface 3-5 and the second arc surface 3-6 are overlapped, and the circle center is positioned on an axis of the human foot rotating on the first rotating surface relative to the shank; the first cambered surface 3-5 and the second cambered surface 3-6 can be provided with protruding strips along the longitudinal direction, so that the friction force of the foot part and the cambered surface on the second rotating surface is increased, and the friction force of the foot part and the cambered surface on the first rotating surface is reduced;

specifically, the footplate 3 further includes: the first key 3-7 and the second key 3-8, the first key 3-7 is arranged at one end of the upper surface of the rotary table 3-1 close to the tiptoe splint 3-2, and the second key 3-8 is arranged at the lower surface of the fixed block, the upper end of the tiptoe splint 3-2 extends towards the direction of the rotary table 3-1; the feet can drive the foot pad plate 3 to output the rotation amount, and can slide the toes upwards or downwards to touch the first key 3-7 or the second key 3-8, so that different operation intentions of a doctor are output through the first key 3-7 and the second key 3-8, and the projection image is adjusted.

Detailed description of the invention

In this embodiment, on the basis of the first embodiment, specifically, as shown in fig. 2, the base 4 includes: the movable plate comprises a movable plate 4-1, a fixed plate 4-2, a base spring 4-3 and ball wheels 4-4, wherein the upper end of the fixed plate 4-2 is connected with the supporting structure, the lower end of the fixed plate 4-2 is provided with a movable chute for accommodating the movable plate 4-1 along the vertical direction, the annular surface outside the movable chute on the lower surface of the fixed plate 4-2 is a fixed plane for supporting, the base spring 4-3 is arranged between the movable plate 4-1 and the fixed plate 4-2, the lower surface of the movable plate 4-1 is provided with a plurality of ball wheels 4-4, and sliding contact surfaces formed by the ball wheels 4-4 form sliding surfaces for movement; when a doctor needs to move a position, the pressure of the body on the device is reduced through the bottom surface of the leg support which is not lifted, the upper part of the device is lifted under the support of the base spring 4-3, the lower edge of the fixing plate 4-2 is separated from the ground, the support leg of the doctor is supported by the ground, the ball wheel 4-4 at the bottom of the moving plate 4-1 rotates, the device slides to a place needing to be moved, after the movement, the support of the leg of the doctor on the body is reduced, the pressure of the body on the device is increased, the fixing plate 4-2 moves to the ground, the lower surface of the fixing plate 4-2 is contacted with the ground, and the device is fixed.

Detailed description of the invention

The fixing pad for the minimally invasive surgery body surface projection adjusting device disclosed by the embodiment is applied to an adjusting device for minimally invasive surgery body surface projection, is used for adapting to the shape of a thigh and fixing one end of a human body, connected with the thigh and a calf, and is fixed in a linear direction perpendicular to the first rotating surface;

specifically, as shown in fig. 4, the method includes: the device comprises a deformation pipe 8-1, a balance pipe 8-2, a stopping piece 8-3 and a balance bag 8-4, wherein the deformation pipes 8-1 are arranged along an arc to form a circular arc contact surface, water is filled in the deformation pipe 8-1, each deformation pipe 8-1 is connected with the balance bag 8-4 through one balance pipe 8-2, the balance pipes 8-2 penetrate through the stopping piece 8-3, and the stopping piece 8-3 is provided with a movable pressing surface for pressing the balance pipes 8-2;

after the thigh part is placed on the fixing pad, the leg part extrudes the deformation pipe 8-1, water in the deformation pipe 8-1 is extruded into the balance bag 8-4 through the balance pipe 8-2, after the deformation of the deformation pipes 8-1, the formed arc-shaped contact surface adapts to the shape of the leg part of a human body, the arc-shaped contact surface simultaneously compresses the balance pipes through the cut-off part 8-3, the communication between the deformation pipe 8-1 and the balance bag 8-4 is cut off, the shape of the arc-shaped contact surface is fixed, and the deformation pipe 8-1 has elasticity and adapts to the shape of the leg part, so that the leg part can be fixed while the deformation pipe is comfortable, and the leg part adapting device has better appearance adapting capability compared with common elastic materials.

Detailed description of the invention

The shaft adjusting piece facing the minimally invasive surgery body surface projection adjusting device disclosed by the embodiment is applied to an adjusting device for minimally invasive surgery body surface projection, and is used for adjusting the positions of the articulated shafts of the thigh backing plate 1 and the shank backing plate 2 on a first rotating surface according to the change of the surface angles of the bottom surface of the foot of a human body and the foot backing plate 3 when the shank backing plate 2 swings along the articulated shaft at the upper end, so that the axis of the articulated shaft is superposed with the virtual axis of the rotation of the thigh and the shank of the human body;

specifically, as shown in fig. 5, the method includes: the leg fixing device comprises a shaft driving part 7-1, a first waist-shaped strip 7-2, a first fixing part 7-3, a second waist-shaped strip 7-4, a swing table 7-5 and a second fixing part 7-6, wherein the shaft driving part 7-1 is arranged on a thigh cushion plate 1 and is used for adjusting the positions of hinged shafts of the thigh cushion plate 1 and a shank cushion plate 2 on a first rotating surface, the first waist-shaped strip 7-2 is fixed on a toe splint 3-2, the second waist-shaped strip 7-4 is fixed on a heel splint 3-3, sliding sleeves are respectively sleeved on the outer sides of the first waist-shaped strip 7-2 and the second waist-shaped strip 7-4, a spring structure for resetting the sliding sleeves is arranged on the sliding sleeves, the first fixing part 7-3 is arranged on the side surface of the first waist-shaped strip 7-2, the first fixing part 7-3 is provided with a movable fixing head, the fixing head can press the sliding sleeve on the first waist-shaped strip to fix the position of the sliding sleeve, the swing table 7-5 is hinged to the upper surface of the foot base plate 3, the hinged shaft is located below an axis of the human foot rotating in the first rotating surface relative to the lower leg, the upper surface of the swing table 7-5 is in contact with the bottom surface of the human foot, the swing table 7-5 can swing towards the tiptoe splint 3-2 or the heel splint 3-3, a swing table sensor 7-5-1 is arranged on the swing table 7-5 and used for detecting the swing amplitude of the swing table 7-5 towards the tiptoe splint 3-2 or the heel splint 3-3, the second fixing piece 7-6 is arranged on the foot base plate 3, the second fixing piece 7-6 is provided with a fixing plane located below the swing table 7-5, and the fixing plane is located below two swing ends of the swing table 7-5 and has the same height from the upper surface of the foot base plate 3 A fixing surface capable of moving in a direction perpendicular to the surface of the footplate 3; the swing table is righted through a second fixing part 7-6, the bottom surface of the foot falling on the swing table 7-5 is parallel to the upper surface of the foot cushion plate 3 and is used as an initial position, the sliding sleeves on the surfaces of the first waist-shaped strips 7-2 are fixed through the first fixing part 7-3, the positions of toes and toe splints 3-2 are fixed, when shanks drive the shank cushion plate 2 to swing back and forth, the positions of the toes are fixed, because a virtual shaft for connecting thighs and shanks of a human body is not coaxial with a hinged shaft of the thigh cushion plate 1 and the shank cushion plate 2, when the shank swings back and forth, the legs of the human body can move relative to the shank cushion plate 3 along the length direction of the shank, after the swing table 7-5 is released by the second fixing part 7-6, when the shank swings back and forth, the heel part slides on the surface of the second waist-shaped strip 7-4 due to the movement of the shank relative to the shank cushion plate 3, the swing platform 7-5 is driven to swing, if the virtual shaft is coaxial with the hinged shaft, the swing platform 7-5 cannot swing, so that whether the virtual shaft is coaxial with the hinged shaft or not can be judged, and the position of the hinged shaft is adjusted to be coaxial with the virtual shaft according to the judgment;

specifically, as shown in connection with fig. 6, the shaft driver 7-1 includes: a shaft fixing fork 7-1-1, a first shaft driving push rod 7-1-2 and a second shaft driving push rod 7-1-3, the two fork ends at the upper end of the shaft fixing fork 7-1-1 are hinged with the upper end of a hinge lug, the lower ends of the two hinge lugs are fixed on the shank backing plate 2, the lower end of the shaft fixing fork 7-1-1 is fixedly connected with one end of a first shaft driving push rod 7-1-2, the other end of the first shaft driving push rod 7-1-2 is fixedly connected with one end of a second shaft driving push rod 7-1-3, the other end of the second shaft driving push rod 7-1-3 is fixed on the thigh cushion plate 1, the first shaft driving push rod 7-1-2 and the second shaft driving push rod 7-1-3 are vertically arranged; when the position of the hinge shaft is adjusted, the position of the shaft fixing fork 7-1-1 is adjusted by adjusting the extension lengths of the first shaft driving push rod 7-1-2 and the second shaft driving push rod 7-1-3 to drive the hinge shaft to move;

specifically, as shown in fig. 7, the second fixing member 7-6 includes: the fixing device comprises a fixing cylinder 7-6-1, a fixing cylinder chute 7-6-2 and a fixing cylinder push rod 7-6-3, wherein the axis of the fixing cylinder 7-6-1 is perpendicular to the upper surface of a foot base plate 3 and is arranged below a swing table 7-5, the fixing cylinder chute 7-6-2 is arranged on the foot base plate 3 and guides the fixing cylinder 7-6-1 to slide in the direction perpendicular to the foot base plate 3, the side surface of the fixing cylinder 7-6-1 is connected with one end of the fixing cylinder push rod 7-6-3, and the other end of the fixing cylinder push rod 7-6-3 is fixed on the foot base plate 3; when the swing table 7-5 is fixed, the fixed cylinder push rod 7-6-3 pulls the fixed cylinder 7-6-1 to slide upwards along the fixed cylinder sliding groove 7-6-2 to the lower surface of the swing table 7-5, a gap is reserved between the fixed cylinder push rod and the lower surface of the swing table 7-5, the swing table 7-5 is pressed downwards by feet, the swing table 7-5 slides downwards through a slideway perpendicular to the surface of the foot base plate 3, an elastic part at the lower end of the swing table 7-5 is compressed, meanwhile, the lower surface of the swing table 7-5 moves to be in contact with the upper surface of the fixed cylinder 7-6-1, the positioning of the bottom of the foot and the foot base plate 3 in parallel is completed, the lower end of the swing table 7-5 is supported by the elastic part, and the bottom of the foot can be kept in contact with the upper surface of the swing table 7-5 all the time;

specifically, the platform placing sensor 7-5-1 is a third angle sensor, one end of the third angle sensor is connected with the platform placing sensor 7-5, and the other end of the third angle sensor is fixed on the foot cushion plate 3; detecting the rotation amplitude of the articulated shaft of the swing platform relative to the surface of the foot cushion plate 3 through a third angle sensor to be used as the swing amplitude of the swing platform 7-5;

specifically, the swing table sensor 7-5-1 comprises two distance sensors which are respectively arranged below two swing ends of the swing table 7-5, and the distance value of the two swing ends of the swing table 7-5 relative to a plane parallel to a fixed end of the upper surface of the foot base plate 3 is directly detected by the two distance sensors and is used as the swing amplitude of the swing table 7-5.

Detailed description of the invention

The shaft driving piece is used for the shaft adjusting piece of the minimally invasive surgery body surface projection adjusting device and is used for adjusting the positions of the hinged shafts of the thigh backing plate 1 and the shank backing plate 2 on the first rotating surface so that the axis of the hinged shafts is superposed with the virtual axis of the thigh and the shank of a human body in a rotating manner;

the shaft driver 7-1 includes: the upper end of the shaft fixing fork 7-1-1 is hinged with the upper end of a hinge lug at both fork ends, the lower ends of the two hinge lugs are fixed on the shank backing plate 2, the lower end of the shaft fixing fork 7-1-1 is fixedly connected with one end of the first shaft driving push rod 7-1-2, the other end of the first shaft driving push rod 7-1-2 is fixedly connected with one end of the second shaft driving push rod 7-1-3, the other end of the second shaft driving push rod 7-1-3 is fixed on the thigh backing plate 1, and the first shaft driving push rod 7-1-2 and the second shaft driving push rod 7-1-3 are vertically arranged, when the position of the hinge shaft is adjusted, the position of the shaft fixing fork 7-1-1 is adjusted by adjusting the extension lengths of the first shaft driving push rod 7-1-2 and the second shaft driving push rod 7-1-3, so that the hinge shaft is driven to move.

Detailed description of the invention

The second fixing piece facing the minimally invasive surgery body surface projection shaft adjusting piece is used for facing the shaft adjusting piece of the minimally invasive surgery body surface projection adjusting device and positioning an initial position of a swing table 7-5;

characterized in that the second fixing member 7-6 comprises: the fixing device comprises a fixing cylinder 7-6-1, a fixing cylinder chute 7-6-2 and a fixing cylinder push rod 7-6-3, wherein the axis of the fixing cylinder 7-6-1 is perpendicular to the upper surface of a foot base plate 3 and is arranged below a swing table 7-5, the fixing cylinder chute 7-6-2 is arranged on the foot base plate 3 and guides the fixing cylinder 7-6-1 to slide in the direction perpendicular to the foot base plate 3, the side surface of the fixing cylinder 7-6-1 is connected with one end of the fixing cylinder push rod 7-6-3, and the other end of the fixing cylinder push rod 7-6-3 is fixed on the foot base plate 3; when the swing table 7-5 is fixed, the fixed cylinder push rod 7-6-3 pulls the fixed cylinder 7-6-1 to slide upwards along the fixed cylinder sliding groove 7-6-2 to the lower surface of the swing table 7-5, a gap is reserved between the fixed cylinder push rod and the lower surface of the swing table 7-5, the swing table 7-5 is pressed downwards by feet, the swing table 7-5 slides downwards through a slideway perpendicular to the surface of the foot base plate 3, an elastic part at the lower end of the swing table 7-5 is compressed, meanwhile, the lower surface of the swing table 7-5 moves to be in contact with the upper surface of the fixed cylinder 7-6-1, the positioning of the bottom of the foot and the foot base plate 3 in parallel is completed, the lower end of the swing table 7-5 is supported by the elastic part, and the bottom of the foot can be kept in contact with the upper surface of the swing table 7-5 all the time;

detailed description of the preferred embodiment

The method for adjusting the surface projection of the minimally invasive surgery disclosed in the embodiment is applied to the adjusting device for the surface projection of the minimally invasive surgery disclosed in the first, second, third, fourth or fifth specific embodiments, and is used for adjusting the surface projection of the minimally invasive surgery by a doctor under the condition of not interrupting the surgery, so that the doctor can observe the surface projection conveniently;

specifically, the method comprises the following steps:

step a, fixing thighs: the doctor sits on the hip supporting section 1-1 in a standing posture with one leg lifted, and the thigh of the lifted leg is placed on the thigh supporting section 1-2 along the length direction of the thigh supporting section 1-2, so that the position of the thigh of the doctor is fixed with the position of the thigh cushion plate 1; thereby isolating the motion of the crus and the feet from the upper part of the body and avoiding influencing the operation of a doctor in the adjusting process;

step b, positioning the length of the shank: the crus of the leg lifted by the doctor naturally droop, the second push rod 2-3 contracts, the lower connecting section 2-2 of the crus backing plate 2 moves towards the upper connecting section 2-1, so that the length of the crus backing plate 2 is shortened, the foot backing plate 3 is driven to move upwards until the bottom surface of the foot is in contact with the foot backing plate 3, and the crus backing plate 3 is positioned according to the length of the crus of the doctor;

step c, foot positioning: the third push rod 3-4 pulls the tiptoe splint 3-2 to move towards the tiptoe, and the tiptoe splint 3-2 and the heel splint 3-3 clamp the foot in the length direction; fixing the feet to the foot mat 3;

step d, acquiring a vertical coordinate quantity: when a doctor needs to input a ordinate quantity, the crus drive the crus cushion plate 2 to swing in a first rotating surface by swinging the crus forwards or backwards by taking a hinge shaft of the crus cushion plate 2 and the thigh cushion plate 1 as an axis, the swing amplitude of the crus cushion plate 2 is obtained by the first angle sensor 5, and the swing amplitude of the crus cushion plate 2 is taken as an ordinate quantity to be obtained;

step e, acquiring the horizontal coordinate quantity: when a doctor needs to input a horizontal coordinate quantity, the foot drives the foot base plate 3 to swing in a second rotating surface by turning the foot leftwards or rightwards by taking a rotating shaft rotationally connected with the foot base plate 3 and the shank base plate 2 as an axis, the swinging amplitude of the foot base plate 3 is obtained by the second angle sensor 6, and the swinging amplitude of the foot base plate 3 is obtained as the horizontal coordinate quantity;

step f, obtaining an operation intention: when a doctor needs to operate a designated area projected on a body surface, the tiptoes slide along the first cambered surface 3-5 by moving the tiptoes upwards or downwards, so that the tiptoes touch the first key 3-7 or the second key 3-8, and the operation intention of the doctor is obtained through the first key 3-7 or the second key 3-8;

the horizontal coordinate and the vertical coordinate of the intention of the doctor are obtained to correspond to the position of the body surface projection, and after the horizontal coordinate and the vertical coordinate are input by the doctor, the area of the projection needing to be enlarged can be selected, so that the doctor can conveniently observe the projection, and the operation consistency is influenced without assistant for assisting in holding the projection;

specifically, the method further comprises a hinge shaft position adjusting step, wherein after the feet are positioned, the positions of hinge shafts of the thigh cushion plate 1 and the shank cushion plate 2 in the first rotating surface are adjusted, so that the hinge shafts are overlapped with virtual shafts of the thigh and the shank of a doctor.

Specifically, when the thigh fixing is performed in the step a, the fixing pad 8 is used for adapting to the shape of the thigh and fixing one end of the thigh, which is connected with the lower leg of the doctor, in a linear direction perpendicular to the first rotating surface.

Detailed description of the invention

The method for outputting the ordinate of the minimally invasive surgery body surface projection adjusting method is applied to the adjusting method for minimally invasive surgery body surface projection, and is used for outputting the ordinate representing the intention of a doctor;

specifically, an included angle between the length direction of one shank cushion plate 2 and the vertical direction is set as a vertical coordinate zero point, an output value of the first angle sensor 5 is set to be zero when the shank cushion plate 2 is located at the set vertical coordinate zero point, when a vertical coordinate quantity needs to be input by a doctor, the shank drives the shank cushion plate 2 to swing in a first rotating surface by swinging the shank forwards or backwards by taking a hinged shaft of the shank cushion plate 2 and a hinged shaft of the thigh cushion plate 1 as an axis, the swing amplitude of the shank cushion plate 2 is obtained through the first angle sensor 5, and a numerical value corresponding to the swing amplitude of the shank cushion plate 2 is output as a vertical coordinate quantity.

Detailed description of the invention

The method for outputting the abscissa value facing to the minimally invasive surgery body surface projection adjusting method disclosed by the embodiment is applied to an adjusting method for minimally invasive surgery body surface projection, and is used for outputting the abscissa value representing the intention of a doctor;

the included angle between the connecting line of the toe splint 3-2 and the heel splint 3-3 of one foot base plate 3 and the first rotating surface is set as the abscissa zero point, the output value of the second angle sensor 6 is set to be zero when the foot base plate 3 is at the set abscissa zero point, when a doctor needs to input an abscissa scalar quantity, the foot is twisted leftwards or rightwards, the foot drives the foot base plate 3 to swing in the second rotating surface by taking the rotating shaft which is rotationally connected with the foot base plate 3 and the shank base plate 2 as the shaft, the swing amplitude of the foot base plate 3 is obtained through the second angle sensor 6, and the numerical value corresponding to the swing amplitude of the foot base plate 3 is output as the abscissa quantity.

Detailed description of the invention

The method is applied to an adjusting method for minimally invasive surgery body surface projection, and is used for outputting the operation intention of a doctor on the body surface projection;

when the toes of a doctor tilt upwards or trample downwards, the toes are distributed with a first key 3-7 and a second key 3-8 at positions where the toes can touch along a sliding path of a first cambered surface 3-5, the first key 3-7 and the second key 3-8 are set to correspond to an intention of the doctor for operating a designated area of body surface projection, the doctor moves the toes upwards or downwards, the toes slide along the first cambered surface 3-5, the toes touch the first key 3-7 or the second key 3-8, and the operation intention of the doctor is output through the first key 3-7 or the second key 3-8.

Detailed description of the invention fourteen

The shaft adjusting method facing the minimally invasive surgery body surface projection adjusting method disclosed in the embodiment is applied to the adjusting method for minimally invasive surgery body surface projection disclosed in the specific embodiment, and is used for adjusting the positions of the articulated shafts of the thigh base plate 1 and the shank base plate 2 on the first rotating surface according to the change of the surface angles of the bottom surface of the foot of the human body and the foot base plate 3 when the shank base plate 2 swings along the articulated shaft at the upper end, so that the axis of the articulated shaft is superposed with the virtual axis of the rotation of the thigh and the shank of the human body;

specifically, the method comprises the following steps:

step a, positioning the sole surface: when the feet are positioned, the second fixing piece 7-6 lifts a fixing plane arranged below the swing table 7-5, the fixing plane is contacted with the lower surface of the swing table 7-5, so that the upper surface of the swing table 7-5 is parallel to the upper surface of the foot base plate 3, and the bottom surfaces of the feet are positioned to be parallel to the upper surface of the foot base plate 3;

step b, toe fixing: when the feet are positioned, the tiptoe splint 3-2 and the heel splint 3-3 clamp the feet in the length direction, the fixing head of the first fixing piece 7-3 moves towards the first waist-shaped strip 7-2, the fixing head presses the sliding sleeve on the first waist-shaped strip 7-2 to fix the position of the sliding sleeve, and the sliding sleeve fixes the position of the tiptoe of the doctor on the sliding surface of the first waist-shaped strip 7-2 through friction force;

step c, obtaining the angle change of the sole surface; referring to fig. 8, the doctor's calf drives the calf pad 2 to swing back and forth in the first rotation plane along the hinge axis of the calf pad 2 and the thigh pad 1, reading the reading of the first angle sensor 5, defining a period between the adjacent maximum value and the minimum value in the reading of the first angle sensor 5, selecting a period, reading the maximum value a and the minimum value b in the period, comparing the values of a and b, if a > -b, selecting the section from-b to b in the period as the sampling section, if a < "b, selecting the section from a to-a in the period as the sampling section, reading the reading of the platform sensor 7-5-1, and corresponding the reading of the platform sensor 7-5-1 to the reading of the first angle sensor 5 on the time axis, intercepting the reading of the platform sensor 7-5-1 in the sampling section, thereby obtaining the change value of the angle of the inner sole surface of the sampling section relative to the sole plate 3;

step d, deviation direction judgment: reading readings c and d of a swing table sensor 7-5-1 corresponding to two end points of the intercepting section, reading signs of the c and the d, defining that the horizontal direction in a first rotating surface is a horizontal shaft, the vertical direction is a vertical shaft, when the upper surface of the swing table 7-5 is parallel to the upper surface of the foot base plate 3, the reading of the swing table sensor 7-5-1 is zero, when the swing table 7-5 rotates clockwise in the first rotating surface, the swing table sensor 7-5-1 outputs a negative value, when the swing table 7-5 rotates anticlockwise in the first rotating surface, the swing table sensor 7-5-1 outputs a positive value, a virtual shaft of the rotation of thighs and calves of the human body is positioned at the intersection point of the horizontal shaft and the vertical shaft, if the c is a positive number and the d is a negative number, the virtual shaft is positioned at the right side of the hinge shaft, and if the c is a negative number and the d is a positive number, the virtual shaft is positioned at the left side of the hinge shaft, if c is a positive number and d is a positive number, the virtual shaft is considered to be positioned below the articulated shaft, and if c is a negative number and d is a negative number, the virtual shaft is considered to be positioned above the articulated shaft; referring to fig. 8 and 9, when the virtual axis of the leg of the human body is located on the left side of the hinge shaft, the first angle sensor 5 outputs a positive value when the leg is swung forward, because the virtual axis is not coaxial with the hinge shaft, the lower leg of the human body has a downward movement trend along the length direction of the lower leg, because the toe is fixed, the sole surface drives the swing table to deflect clockwise relative to the upper surface of the foot base plate 3, at this moment, the swing table sensor outputs a negative value, when the leg of the human body swings backward, the first angle sensor outputs a positive value, the lower leg of the human body has an upward movement trend along the length direction of the lower leg, because the toe is fixed, the sole surface drives the swing table to deflect counterclockwise relative to the upper surface of the foot base plate 3, and at this moment, the swing table sensor outputs a positive value;

if the signs of c and d are the same, moving the hinged shaft by a length of m along the vertical axis, if c is a positive number and d is a positive number, moving the hinged shaft downwards, if c is a negative number and d is a negative number, moving the hinged shaft upwards, repeating the step d until the signs of c and d are different, stopping moving, moving the hinged shaft by a length of m along the horizontal axis, if c is a positive number and d is a negative number, moving the hinged shaft to the right side, if c is a negative number and d is a positive number, moving the hinged shaft to the left side, repeating the step d, if c and d are not changed in sign, continuing moving by a length of m until c and d are changed in sign, if c and d are changed in sign, moving by a length of 0.5m until the signs of c and d are the same, and stopping moving;

with reference to fig. 10 and 11, ignoring the foot length, simplifying the leg into a line segment e, simplifying the leg cushion into a line segment f, where the trajectory of the leg line segment e is located outside the cushion line f when the leg line segment e is on the left side of the vertical line, c is a negative number, the trajectory of the leg line segment e is located outside the cushion line f when the leg line segment e is on the right side of the vertical line, d is a positive number, determining that the virtual axis is located on the left side of the hinge shaft, moving the hinge shaft to the left by a value of m when the hinge shaft is moved to the left by a value of m, determining that the virtual axis is located on the right side of the hinge shaft when the virtual axis is moved to the left by a value of m when the virtual axis is smaller than a value of m in the horizontal direction, decreasing the value of m to a value of 0.5m when the virtual axis is moved again, and continuing the movement if the values of c and d are not changed, if c and d are changed in sign, continuously reducing the movement amount until c and d have the same sign, adjusting the height direction of the virtual shaft and the articulated shaft at the moment, determining that the track of the leg line segment e is outside the backing plate line f, so that c and d are positive numbers, judging that the virtual shaft is positioned above the articulated shaft, upwards moving the articulated shaft by a value m, increasing the length of the leg backing plate by a value m, if c and d are still the same sign, continuously moving in the vertical direction, if c and d have different signs, turning to horizontal direction adjustment, setting a threshold value n, and when the value m is reduced to be less than n, considering that the error between the virtual shaft and the articulated shaft is in an allowable range, and stopping adjustment;

specifically, in the step d, a third angle sensor is arranged on the swing table 7-5 for detection, the output value of the third angle sensor is set to be zero when the upper surface of the swing table 7-5 is parallel to the upper surface of the foot cushion plate 3, the swing table sensor 7-5-1 outputs a negative value when the swing table 7-5 rotates clockwise in the first rotating surface, and the swing table sensor 7-5-1 outputs a positive value when the swing table 7-5 rotates counterclockwise in the first rotating surface.

Detailed description of the invention

The method for obtaining the angle of the sole surface facing the surface projection axis adjustment of the minimally invasive surgery disclosed in the embodiment is applied to an axis adjustment method facing the surface projection adjustment method of the minimally invasive surgery disclosed in the fourteenth implementation mode;

specifically, a doctor lower leg drives a lower leg cushion plate 2 to swing back and forth in a first rotating surface along a hinged shaft of the lower leg cushion plate 2 and a thigh cushion plate 1, reading a reading of a first angle sensor 5, defining a period between adjacent maximum values and minimum values in the reading of the first angle sensor 5, selecting a period, reading a maximum value a and a minimum value b in the period, comparing the sizes of a and b, if a is greater than-b, selecting a section from-b to b in the period as a sampling section, selecting a section from a to-a in the period as a sampling section, reading a reading of a table-swinging sensor 7-5-1, and corresponding the reading of the table-swinging sensor 7-5-1 to the reading of the first angle sensor 5 according to a time axis, intercepting the reading of the table-swinging sensor 7-5-1 in the sampling section, thereby obtaining the angle change value of the sole surface in the sampling section relative to the foot mat 3.

Detailed description of the invention

The method for judging the offset direction of the surface projection axis adjustment facing the minimally invasive surgery disclosed in the embodiment is applied to the axis adjustment method of the surface projection adjustment facing the minimally invasive surgery disclosed in the fourteenth embodiment;

specifically, reading readings c and d of a swing table sensor 7-5-1 corresponding to two end points of the intercepting section, reading signs of the c and d, defining that the horizontal direction in a first rotating surface is a horizontal shaft, the vertical direction is a vertical shaft, when the upper surface of the swing table 7-5 is parallel to the upper surface of the foot base plate 3, the reading of the swing table sensor 7-5-1 is zero, when the swing table 7-5 rotates clockwise in the first rotating surface, the swing table sensor 7-5-1 outputs a negative value, when the swing table 7-5 rotates anticlockwise in the first rotating surface, the swing table sensor 7-5-1 outputs a positive value, a virtual shaft of the rotation of thighs and calves of the human body is located at the intersection point of the horizontal shaft and the vertical shaft, if the c is a positive number, the d is a negative number, the virtual shaft is located on the right side of the hinge shaft, if the c is a negative number, and the d is a positive number, the virtual shaft is located on the left side of the hinge shaft, if c is a positive number and d is a positive number, the virtual shaft is considered to be positioned below the hinged shaft, and if c is a negative number and d is a negative number, the virtual shaft is considered to be positioned above the hinged shaft;

detailed description of the invention seventeen

The method for adjusting the articulated shaft facing the surface projection shaft of the minimally invasive surgery disclosed in the embodiment is applied to the shaft adjusting method facing the surface projection adjusting method of the minimally invasive surgery disclosed in the fourteenth implementation mode;

specifically, step e, hinge shaft adjustment: setting an length m, if the signs of c and d are different, moving the hinged shaft by a length m along the horizontal axis, if c is a positive number and d is a negative number, moving the hinged shaft to the right side, if c is a negative number and d is a positive number, moving the hinged shaft to the left side, repeating the step d, if c and d are not changed in sign, continuing to move by a length m until c and d are changed in sign, if c and d are changed in sign, moving by 0.5m in length until the signs of c and d are the same, moving the hinged shaft by a length m along the vertical axis, if c is a positive number and d is a positive number, moving the hinged shaft downwards, if c is a negative number and d is a negative number, moving the hinged shaft upwards, repeating the step d until the signs of c and d are different, and stopping moving;

The above embodiments are merely illustrative of the present patent and do not limit the scope of the patent, and those skilled in the art can make modifications to the parts thereof without departing from the spirit and scope of the patent.

Claims

1. The method for obtaining the sole surface angle adjusted facing the surface projection axis of the minimally invasive surgery is characterized in that a doctor shank drives a shank cushion plate (2) to swing back and forth in a first rotating surface along a hinged shaft of the shank cushion plate (2) and a thigh cushion plate (1), reading of a first angle sensor (5) is read, a period is defined between adjacent maximum values and minimum values in the reading of the first angle sensor (5), a period is selected, a maximum value a and a minimum value b in the period are read, the sizes of a and-b are compared, if a > -b, a section from-b to b in the period is selected as a sampling section, if a is smaller than-b, a section from a to a in the period is selected as a sampling section, the reading of a swing table sensor (7-5-1) is read, and the reading of the swing table sensor (7-5-1) corresponds to the reading of the first angle sensor (5) according to a time axis, intercepting the reading of the inner swing table sensor (7-5-1) of the sampling section, thereby obtaining the change value of the angle of the inner sole surface of the sampling section relative to the foot base plate (3);

the method for obtaining the sole surface angle for minimally invasive surgery body surface projection axis adjustment further comprises the following steps before execution:

step a, positioning the sole surface: when the feet are positioned, the second fixing piece (7-6) raises a fixing plane arranged below the placing table (7-5), the fixing plane is contacted with the lower surface of the placing table (7-5), so that the upper surface of the placing table (7-5) is parallel to the upper surface of the foot base plate (3), and the bottom surfaces of the feet are positioned and are parallel to the upper surface of the foot base plate (3);

step b, toe fixing: when the feet are positioned, the tiptoe splint (3-2) and the heel splint (3-3) clamp the feet in the length direction, the fixing head of the first fixing piece (7-3) moves towards the first waist-shaped strip (7-2), the fixing head presses the sliding sleeve on the first waist-shaped strip (7-2) to fix the position of the sliding sleeve, and the sliding sleeve fixes the position of the tiptoe of a doctor on the sliding surface of the first waist-shaped strip (7-2) through friction force.